Image processing system, movable apparatus, image processing method, and storage medium that include a driving control unit to control a traveling direction of a movable apparatus based on an output of a path calulation unit

Abstract

A movable apparatus including a rear image acquisition unit configured to acquire a rear image of the movable apparatus, a display unit to display the rear image from the rear image acquisition unit, and at least one processor or circuit configured to function as a path calculation unit configured to calculate an avoidance path for avoiding an obstacle in front, a display control unit configured to cause the display unit to display a rear image of a predetermined angle of field acquired by the rear image acquisition unit when the path calculation unit determines that there is no path in which the obstacle in front is able to be avoided or the movable apparatus enters a path into which the movable apparatus is not allowed to intrude, and a driving control unit to control a traveling direction of the movable apparatus based on an output of the path calculation unit.

What is claimed is: 
     
         1 . A movable apparatus comprising:
 a rear image acquisition unit configured to acquire a rear image of the movable apparatus;   a display unit configured to display the rear image from the rear image acquisition unit; and   at least one processor operatively coupled to a memory, serving as:
 a path calculation unit configured to calculate an avoidance path for avoiding an obstacle in front; 
 a display control unit configured to cause the display unit to display a rear image of a predetermined angle of field acquired by the rear image acquisition unit when the path calculation unit determines that there is no path in which the obstacle in front is able to be avoided or the movable apparatus enters a path into which the movable apparatus is not allowed to intrude; and 
 a driving control unit configured to control a traveling direction of the movable apparatus based on an output of the path calculation unit. 
   
     
     
         2 . The movable apparatus according to  claim 1 , wherein, when the path calculation unit determines that there is no path in which the obstacle is able to be avoided, the display control unit causes the display unit to display the rear image of the predetermined angle of field acquired by the rear image acquisition unit before the movable apparatus is moved backward. 
     
     
         3 . The movable apparatus according to  claim 1 , wherein the display control unit displays a rear image of an angle of field narrower than the predetermined angle of field and from the rear image acquisition unit on an electronic rear-view mirror while the movable apparatus is traveling at a predetermined speed or more. 
     
     
         4 . The movable apparatus according to  claim 1 , wherein, when the path calculation unit determines that there is no path in which the obstacle is able to be avoided, the display control unit causes the display unit to display a rear lateral image of the movable apparatus and the rear image of the predetermined angle of field from the rear image acquisition unit. 
     
     
         5 . The movable apparatus according to  claim 1 , wherein the path into which the movable apparatus is not allowed to intrude includes one of a path with a width of a predetermined value or less, a one-way path, and private land. 
     
     
         6 . The movable apparatus according to  claim 1 , wherein, when there is a path in which the obstacle in front is able to be avoided, the path calculation unit outputs an instruction to change a traveling direction of the movable apparatus to an avoidance path direction. 
     
     
         7 . The movable apparatus according to  claim 1 , wherein the rear image acquisition unit includes an imaging unit configured capture a wide-angle video through an optical system capable of imaging a front side to a rear side of a lateral side of the movable apparatus. 
     
     
         8 . The movable apparatus according to  claim 7 , wherein the optical system has an optical property in which a resolution of a peripheral portion of an angle of field is higher than a resolution of a central portion of the angle of field. 
     
     
         9 . The movable apparatus according to  claim 8 , wherein, when f is a focal distance of the optical system, θ is a half angle of field, y is an image height on an image surface, y(θ) is a projection property indicating a relation between the image height y and the half angle of field θ, and θ max is a maximum half angle of field of the optical system, 0.1<2×f×tan(θ max/2)/y(θ max)<1.2 is satisfied.